From b663ede6189e182f11c34cf80a79cf41f9e082b5 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Mon, 19 Jan 2026 14:11:06 +0100 Subject: [PATCH 1/3] Add rccar transfer --- ss2r/configs/experiment/rccar_transfer.yaml | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) create mode 100644 ss2r/configs/experiment/rccar_transfer.yaml diff --git a/ss2r/configs/experiment/rccar_transfer.yaml b/ss2r/configs/experiment/rccar_transfer.yaml new file mode 100644 index 000000000..e3984bf02 --- /dev/null +++ b/ss2r/configs/experiment/rccar_transfer.yaml @@ -0,0 +1,19 @@ +# @package _global_ +defaults: + - rccar_hardware + - override /agent/data_collection: episodic + - _self_ + +training: + num_timesteps: 25000 + wandb_id: 9tt8ewww + +agent: + batch_size: 256 + min_replay_size: 1000 + max_replay_size: 1048576 + policy_hidden_layer_sizes: [64, 64] + grad_updates_per_step: 2500 + learning_rate: 1e-5 + critic_learning_rate: 3e-4 + num_critic_updates_per_actor_update: 10 \ No newline at end of file From 3200e7f7aa3a8b0ad33ae248590b09bcc7714863 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Mon, 19 Jan 2026 14:11:36 +0100 Subject: [PATCH 2/3] Update policy --- ss2r/configs/experiment/rccar_transfer.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/rccar_transfer.yaml b/ss2r/configs/experiment/rccar_transfer.yaml index e3984bf02..99b78e2ba 100644 --- a/ss2r/configs/experiment/rccar_transfer.yaml +++ b/ss2r/configs/experiment/rccar_transfer.yaml @@ -6,7 +6,7 @@ defaults: training: num_timesteps: 25000 - wandb_id: 9tt8ewww + wandb_id: 7qm6mozf agent: batch_size: 256 From 7dea018d3db40dc9b33d5220c2861c7a88e600f9 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Mon, 19 Jan 2026 14:17:27 +0100 Subject: [PATCH 3/3] Add penalizer --- ss2r/configs/experiment/rccar_transfer.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/ss2r/configs/experiment/rccar_transfer.yaml b/ss2r/configs/experiment/rccar_transfer.yaml index 99b78e2ba..61b5bbc68 100644 --- a/ss2r/configs/experiment/rccar_transfer.yaml +++ b/ss2r/configs/experiment/rccar_transfer.yaml @@ -2,6 +2,7 @@ defaults: - rccar_hardware - override /agent/data_collection: episodic + - override /agent/penalizer: lagrangian - _self_ training: